wheel. This needs to be done so that the horn
screw will be able to fit through the hole.
Next, place the disk on the wheel and insert
four #6 machine screws through the disk and
wheel. On the opposite side of the wheel,
place a washer and a #6 locknut on each
screw as shown in Figure 11. Tighten them
just enough to snug the nuts. I recommend
that you use a cutoff wheel on a rotary tool
to cut off the screw ends that are sticking out
of the lock nuts. At this point, the wheels are
ready to attach to the rotary actuator.

tight and slightly recessed. Don’t over-tighten. For the
RX- 28, you will have to place a small countersink hole
with a larger drill bit so that the screws will go all the way
through the disk. Don’t use a drill to do this. Hold the bit
with your hand to make only a slight recess in the disk.

STEP 9

Use a 7/32” bit and drill out the center hole on the

Attach the Wheel

Let’s start by looking at how we are going to attach the
actuator to the robot base. While there are a couple of
different ways to do this, the best way is to use the OF-64S
frame on the RX- 64 actuator and the OF-RX28S on the
RX- 28 actuators. The only downside to using these frame